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Subject Index

1

1000-00 Device type......................................................46
1001-00 Error register...................................................46
1003 Pre-defined Error Field.......................................47
1005-00 COB-ID SYNC messages.............................47
1008-00 Device name....................................................47
1009-00 Hardware Version.........................................47
100A-00 Software Version..........................................47
100C-00 Guard Time......................................................47
100D-00 Life Time Factor.............................................48
1010-01 Save Parameters............................................48
1011-01 Restore Default Parameters.....................48
1014-00 COB-ID EMCY.................................................49
1015-00 Inhibit Time Emergency.............................49
1018 Identity Object.......................................................49
1400 Receive PDO Communication Parameter 1

.............................................................................................50

1600 Receive PDO Mapping Parameter 1.............51
1800 Transmit PDO Communication Parameter 1

.............................................................................................51

1A00 TPDO Mapping Parameter 1............................53

3

3000-00 Baud rate..........................................................55
3001-00 Node ID.............................................................55
3005-00 Current value [mA].......................................63
3006-00 Temperature value........................................63
3100-00 Control word...................................................63
3101-00 Status word.....................................................63
3102-00 Demanded position value.........................63
3103-00 Current position value................................63
3105-00 Current velocity value.................................64
3106-00 Target position...............................................64
3107-00 Target speed....................................................64
3108-00 Acceleration....................................................56
3109-00 Deceleration....................................................56
310B-00 Position following error.............................64
310C-00 Max following error.....................................56
310D-00 Position window...........................................56
310E-00 Position window time.................................56
310F Delta space..............................................................57
3110-00 Cyclic Time.......................................................64
3111-00 Kp position loop............................................57
3112-00 Ki position loop..............................................58
3114-00 Jog speed..........................................................58
3115-00 Work speed......................................................58
3116-00 Max speed........................................................59

3117-00 Jog step length..............................................59
3118-00 Start Torque current time.........................59
3120-00 Distance per revolution..............................59
3200-00 Alarms................................................................65
3300-00 Preset.................................................................60
3301-00 Offset..................................................................60
3302-00 Code sequence...............................................61
3330-00 Kp current loop..............................................61
3331-00 Ki current loop...............................................61
3340-00 Max current.....................................................61
3341-00 Starting Torque current.............................62
3342-00 Gear ratio.........................................................62
3343-00 Positive absolute limit switch..................62
3344-00 Negative absolute limit switch...............62

A

Alarm.....................................................................................42
Alarm reset..........................................................................39
Axis enabled.......................................................................42
Axis in position..................................................................42
Axis not synchronized....................................................65
Axis running.......................................................................42
Axis torque..........................................................................40

C

CAN Life guard error.......................................................66
Control Word.....................................................................38
Current position...............................................................43
Current velocity................................................................43

D

DAC Saturation.................................................................43

E

Emergency...................................................................39, 65
Executing a command...................................................42

F

Flash memory.....................................................................67
Flash memory error.........................................................65
Following error..........................................................65, 67

G

Generic error......................................................................67

I

IN 1.........................................................................................43
IN 2.........................................................................................43
IN 3.........................................................................................43
Incremental jog.................................................................39

J

Jog -.......................................................................................38
Jog +......................................................................................38

Содержание RD4

Страница 1: ...User s guide RD4 Position measurement control ...

Страница 2: ...ion herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s r l Lika Electronic s r l reserves the right to make all modifications at any moments and without forewarning This manual is periodically reviewed and revised As required we suggest checking if a new or updated edition of this document is available at Lika Electronic s r l s website Lika...

Страница 3: ...e 4 23 4 4 3 RT bus termination Figure 4 23 5 Quick reference 24 6 Functions 25 6 1 Working principle 25 6 2 Movements jog and positioning 26 6 3 Digital inputs and outputs 27 6 4 Objects 3120 00 Distance per revolution 3114 00 Jog speed 3115 00 Work speed 3300 00 Preset and 310F Delta space 28 7 CANopen interface 32 7 1 EDS files 32 7 2 NMT states 33 7 2 1 Initialization 33 7 2 2 Pre operational ...

Страница 4: ... 1001 00 Error register 46 1003 Pre defined Error Field 47 1005 00 COB ID SYNC messages 47 1008 00 Device name 47 1009 00 Hardware Version 47 100A 00 Software Version 47 100C 00 Guard Time 47 100D 00 Life Time Factor 48 1010 01 Save Parameters 48 1011 01 Restore Default Parameters 48 1014 00 COB ID EMCY 49 1015 00 Inhibit Time Emergency 49 1018 Identity Object 49 1400 Receive PDO Communication Par...

Страница 5: ...h 62 3344 00 Negative absolute limit switch 62 3005 00 Current value mA 63 3006 00 Temperature value 63 3100 00 Control word 63 3101 00 Status word 63 3102 00 Demanded position value 63 3103 00 Current position value 63 3105 00 Current velocity value 64 3106 00 Target position 64 3107 00 Target speed 64 310B 00 Position following error 64 3110 00 Cyclic Time 64 3200 00 Alarms 65 Machine data not v...

Страница 6: ...Flash memory 67 Life Guard 67 Following error 67 8 4 Node guarding protocol 68 9 Programming examples 69 10 Default parameters list 70 ...

Страница 7: ...Deceleration 56 310B 00 Position following error 64 310C 00 Max following error 56 310D 00 Position window 56 310E 00 Position window time 56 310F Delta space 57 3110 00 Cyclic Time 64 3111 00 Kp position loop 57 3112 00 Ki position loop 58 3114 00 Jog speed 58 3115 00 Work speed 58 3116 00 Max speed 59 3117 00 Jog step length 59 3118 00 Start Torque current time 59 3120 00 Distance per revolution...

Страница 8: ...7 O OUT 1 40 OUT 2 40 OUT 3 40 Overcurrent 65 Overtemperature 66 e seg Overvoltage 67 P Power surge 67 S Start 39 Status word 42 Stop 39 SW limit switch 42 SW limit switch 42 T Target not valid 65 Target position 41 Target position reached 43 U Undervoltage 66 e seg ...

Страница 9: ...nt to highlight the parts of the text where information of great significance for the user can be found user must pay the greatest attention to them Instructions must be followed strictly in order to guarantee the safety of the user and a correct use of the device Failure to heed a warning or comply with instructions could lead to personal injury and or damage to the unit or other equipment This i...

Страница 10: ...n cups motion units conveyor and spindle positioning devices on packaging woodworking machineries among others The available interfaces for fieldbus communication are Modbus RTU Profibus DP and CANopen DS 301 To make it easier to read the text this guide can be divided into two main sections In the first section general information concerning the safety the mechanical installation and the electric...

Страница 11: ... customer s failure to comply with these requirements 1 2 Electrical safety Turn OFF power supply before connecting the device connect according to explanation in section Electrical connections a safety push button for emergency power off has to be installed to shut off motor power supply in case of emergency situations in compliance with 2004 108 EC norm on electromagnetic compatibility following...

Страница 12: ...e misalignment tolerances of the flexible coupling are respected unit with hollow shaft ROTADRIVE can be mounted directly on a shaft whose diameter has to respect the technical characteristics specified in the purchase order and clamped by means of the collar and the hole into which an anti rotation pin has to be inserted WARNING The unit has been adjusted by performing a no load mechanical runnin...

Страница 13: ...ody Information is listed in the delivery document too Please always quote the ordering code and the serial number when reaching Lika Electronic s r l for purchasing spare parts or needing assistance For any information on the technical characteristics of the product refer to the technical catalogue MAN RD4 CB E 1 5 Identification 13 of 72 ...

Страница 14: ...ation and an anti rotation pin the anti rotation pin TE M5 screw has to be inserted into the screw insulation This will provide to the unit both stability and the mobility needed to absorb the mechanical tensions produced during operation Do not fasten firmly the anti rotation pin to the flange or the fixed support on user s side without using the screw insulation If this occurs the mechanical ten...

Страница 15: ...nd follow these instructions anyway note that the unit can be installed in several manners and according to the specific user s application Drill a 10 mm diameter hole in the flange or in the fixed support on user s side in order to insert the screw insulation and the anti rotation pin The MAN RD4 CB E 1 5 Mechanical installation 15 of 72 ...

Страница 16: ...OTADRIVE shaft is 35 mm ascertain that the anti rotation pin is inserted properly in the screw insulation secure the user s shaft through the collar and the relevant fixing screw the minimum distance between the collar and the fixed support on user s side must be not less than 1 mm in order to prevent the fixed parts from coming into contact tighten the anti rotation pin on the screw insulation ti...

Страница 17: ...uggest using the ground screw provided in the frame see Figure above Connect properly the cable shield to ground on user s side Lika s EC pre assembled cables are fitted with shield connection to the connector ring nut in order to allow grounding through the body of the device Lika s E connectors have a plastic gland thus grounding is not possible If metal connectors are used connect the cable shi...

Страница 18: ...ltage Interface M12 5 pin connectors A coding frontal side male BUS IN female BUS OUT Pin Description 1 n c 2 n c 3 CAN GND1 4 CAN High 5 CAN Low Case Shielding2 1 CAN GND is the 0 VDC reference of CAN signals it is not connected to 0 VDC supply voltage 2 Lika s EC pre assembled cables only n c not connected We recommend CANopen certified cables to be used MAN RD4 CB E 1 5 Electrical connections 1...

Страница 19: ...y of the device Lika s E connectors have a plastic gland thus grounding is not possible see Figure below If metal connectors are used connect the cable shield properly as recommended by the manufacturer Inputs outputs optional M12 8 pin male connector frontal side Pin Description 1 0 VDC 2 Input 1 3 Input 2 4 Input 3 5 Output 1 6 Output 2 7 Output 3 8 n c n c not connected MAN RD4 CB E 1 5 Electri...

Страница 20: ...ed LED 3 GREEN RUN Description ON Device in Operational state Single flash Device in Stopped state Blinking led Device in Pre Operational state LED 4 RED ERR Description ON Bus off Double flash Node guarding error see on page 68 Single flash Maximum number of warning errors Blinking led General error or Flash memory error OFF No error LED 5 GREEN Description ON Indicates the motor is enabled contr...

Страница 21: ...t to damage the connection wires To access DIP Switches loosen the four screws and remove the connectors metal cover Handle the cover with care not to stretch or pull out the connection wires Be careful to replace the metal cover at the end of the operation The DIP switches are just beneath Figure 4 Dip Switches MAN RD4 CB E 1 5 Electrical connections 21 of 72 ...

Страница 22: ...ation The range of node addresses is between 1 and 127 127 7F hex Example Address 10 0A hex Address 25 19 hex Address 95 5F hex NOTE The default address is 1 If you set the address to 0 device will be set to 1 automatically address 0 is reserved for Master If you set an address higher than 127 device will be set to 127 automatically MAN RD4 CB E 1 5 Electrical connections 22 of 72 ...

Страница 23: ... 03h 125 Kbit s 04h 250 Kbit s 05h default 500 Kbit s 06h 800 Kbit s 07h 1000 Kbit s 4 4 3 RT bus termination Figure 4 A bus termination resistor is provided and has to be activated as line termination in the last device of the transmission line Use RT Switch to activate or deactivate the bus termination RT Description 1 2 ON Activated when the device is at the end of the transmission line 1 2 OFF...

Страница 24: ... speed object 3114h see on page 58 set a proper value in 3115 00 Work speed object 3115h see on page 58 set a proper value in 3300 00 Preset object 3300h see on page 60 set proper values in 310F Delta space objects Positive delta 310Fh sub 1 and Negative delta 310Fh sub 2 see on page 57 save new setting values object 1010 01 Save Parameters 1010h sub 1 see on page 48 NOTE Parameters 3120 00 Distan...

Страница 25: ... show schematically the working principle of system control logic MAN RD4 CB E 1 5 Functions 25 of 72 Trajectory generator PI position I2 t control Temperature control PWM generator Power electronics Absolute encoder Motor Reductio n gear Current PI Current transducer Torque limiter ...

Страница 26: ...on speed of the ROTADRIVE unit shaft to be equal to the value set in 3114 00 Jog speed Positioning position and speed control This kind of control is a point to point movement and the maximum reachable speed is equal to the value set in 3115 00 Work speed set speed can be reached only if space is long enough MAN RD4 CB E 1 5 Functions 26 of 72 jog 1 jog 0 Jog speed speed time Work speed speed time...

Страница 27: ...tus word bits 13 15 see on page 42 when the device is running in Operational state High logic value is read when voltage is equal to 24VDC 10 Slave outputs are operated by the Master through Control Word bits 13 15 see on page 38 when the device is running in Operational state Outputs are open collector type having Imax 150mA Example of connection scheme MAN RD4 CB E 1 5 Functions 27 of 72 ...

Страница 28: ...is set properly object 310Fh sub 1 see on page 57 check the value in 310F Delta space sub 2 Negative delta is set properly object 310Fh sub 2 see on page 57 save new values object 1010 01 Save Parameters 1010h sub 1 see on page 48 WARNING Each time you change the value in 3120 00 Distance per revolution you must then set new values also in 3114 00 Jog speed and 3115 00 Work speed as speed values a...

Страница 29: ...eset value is expressed in pulses Value set in parameter 310F Delta space subtracted from value set in parameter 3300 00 Preset is the maximum backward travel negative travel starting from the preset value is expressed in pulses WARNING Please note that the parameters listed hereafter are closely related to the 3120 00 Distance per revolution parameter hence when you change the value in 3120 00 Di...

Страница 30: ... Positive delta and 310F Delta space sub 2 Negative delta max values 523263 1024 steps per revolution x 511 revolutions 1 when 3300 00 Preset value 0 Max SW limit switch 0 523263 523263 pulses forward travel Max SW limit switch 0 523263 523263 pulses backward travel Therefore when 3300 00 Preset 0 the working stroke of the axis will span the maximum positive and negative limits range that is SW li...

Страница 31: ...300 00 Preset 500 ex thickness of the tool 310F Delta space sub 1 Positive delta and 310F Delta space sub 2 Negative delta max values 100 steps per revolution x 511 revolutions 51100 pulses Max SW limit switch 500 51100 50600 pulses forward travel Max SW limit switch 500 51100 51600 pulses backward travel Therefore when 3300 00 Preset 500 the working stroke of the axis will span the maximum positi...

Страница 32: ...DS files CANopen devices are supplied with their own EDS file LIKA_RD4_Tx_I2_Vx EDS see enclosed documentation or click www lika biz ROTARY ACTUATORS ROTARY ACTUATORS DRIVECOD RD4 EDS file has to be installed on CANopen Master device Install LIKA_RD4_T32_I2_Vx EDS file for devices fitted with T32 reduction gear Install LIKA_RD4_T48_I2_Vx EDS file for devices fitted with T48 reduction gear EDS file...

Страница 33: ...6 NMT message Reset node or Reset communication 7 2 1 Initialization This is the first state the CANopen device enters after power is turned on or after performing a hardware reset by means of a Reset node command During initialization device reads and loads the parameters saved on EPROM As soon as the basic CANopen device initialization is carried out device sends a boot up message and then switc...

Страница 34: ... accessed using SDO messages To switch the Slave device to Pre operational state the Master must send an Enter pre operational command using a NMT message WARNING For safety reasons in Operational state the Master must check the Slave device continuously and in a proper way For a description of the correct procedure see section 7 6 PDO messages on page 37 7 2 4 Stopped state In this state the Slav...

Страница 35: ...cess to entries of a CANopen device Object dictionary page 46 they allow to read and set parameters see 7 7 SDO messages section on page 45 Special Function Object services SYNC synchronization object provides the basic network synchronization mechanism and is used by the Master to enable the Slave devices to transmit process data position and velocity see on page 47 Emergency EMCY emergency objec...

Страница 36: ...F Boot up 1110 701 77F The type of COB tx means COB ID sent rx means COB ID received is viewed from the Slave device 7 4 NMT messages Structure of NMT messages COB ID 11 bit 2 CAN Data Bytes Func code Node ID Command Slave ID 0000 0 NMT function Slave ID If Slave ID 00h the NMT message is issued to all network nodes Command NMT service Node state 01 hex Start remote node Operational 02 hex Stop re...

Страница 37: ...ong the possible methods the Node guarding protocol can be implemented complying with DS301 specifications see on page 68 ROTADRIVE positioning unit sends PDO messages to the Master according to the set cyclic or synchronous work mode see object 1800 Transmit PDO Communication Parameter 1 PDO messages have always a 8 CAN Data Bytes format Please note that the structure of sent messages and receive...

Страница 38: ... activation of this bit causes at rising edge the execution of a single step toward positive direction having the length expressed in pulses set next to the 3117 00 Jog step length item then the slave stops and waits for another issue Velocity acceleration and deceleration are set in objects 3114 00 Jog speed 3108 00 Acceleration and 3109 00 Deceleration respectively For a detailed description of ...

Страница 39: ...achine data not valid normal work status can be restored only after having set proper values Flash memory error alarm cannot be reset Incremental jog bit 4 If set to 0 the activation of bits Jog and Jog causes the slave to move as long as Jog Jog 1 Setting this bit to 1 the incremental jog function is enabled that is the activation of bits Jog and Jog causes at rising edge the execution of a singl...

Страница 40: ...ge 46 OUT 1 0 output 1 low not active OUT 1 1 output 1 high active OUT 2 bit 14 This is intended to activate deactivate the operation of the digital output 2 The meaning of the available outputs is described in section Programming parameters on page 46 OUT 2 0 output 2 low not active OUT 2 1 output 2 high active OUT 3 bit 15 This is intended to activate deactivate the operation of the digital outp...

Страница 41: ...e to change the target position value even while the device is still reaching it to do this send a Start command and the new target value in Target position NOTE Jog Jog and Start functions cannot be enabled simultaneously For instance if a Jog command is sent to the Slave while it is moving to target position jog command will be ignored if Jog and Jog commands are sent simultaneously device does ...

Страница 42: ...on or using a jog for instance It is 0 when the motor is disabled that is when the controller is off after a positioning or jog movement or because of an alarm condition SW limit switch bit 3 If value is 1 device has reached the maximum positive limit positive limit switch See object 310F Delta space sub 1 Positive delta SW limit switch bit 4 If value is 1 device has reached the maximum negative l...

Страница 43: ...6 IN 1 0 input 1 low not active IN 1 1 input 1 high active IN 2 bit 14 This is meant to show the status of the digital input 2 The meaning of the available inputs is described in section Programming parameters on page 46 IN 2 0 input 2 low not active IN 2 1 input 2 high active IN 3 bit 15 This is meant to show the status of the digital input 3 The meaning of the available inputs is described in se...

Страница 44: ...on bit 0 Status word Target position reached bit 8 Status word Axis enabled bit 2 Status word PWM is active Theoretical velocity Example 2 Jog RD4 Jog bit 0 Control Word Executing a command bit 7 Status word Axis running bit 6 Status word Axis enabled bit 2 Status word PWM is active Theoretical velocity MAN RD4 CB E 1 5 CANopen interface 44 of 72 ...

Страница 45: ...x Sub parameter sub index Data parameter value set or read value 7 7 1 Command Command byte contains the type of COB telegram transmitted to the CAN network Three types of telegram are available Set used to send configuration parameters to the Slave Req used by the Master to read data from the Slave Warnings used by the Slave to send error messages to the Master e g Index does not exist Process da...

Страница 46: ...ttribute ro read only access rw read and write access const ro constant value Unsigned16 data type Data byte byte 4 byte 5 LSByte MSByte Unsigned32 data type Data byte byte 4 byte 5 byte 6 byte 7 LSByte MSByte 8 1 1 Standard objects DS 301 1000 00 Device type Unsigned32 const Default 0000012Dh 1001 00 Error register Unsigned8 ro Should an error occur bit 0 of this object will be set to 1 Default 0...

Страница 47: ...t shows the name of the device Default RD4 1009 00 Hardware Version String const It shows the hardware version of the device 100A 00 Software Version String const It shows the software version of the device 100C 00 Guard Time Unsigned16 rw It contains the node guard time value expressed in msec milliseconds The Master polls each Slave at regular time intervals issuing RTR messages This time interv...

Страница 48: ... confirmation COB ID Cmd Index Sub Data bytes 580 ID 60 10 10 01 00 00 00 00 1011 01 Restore Default Parameters Unsigned32 rw This object allows you to restore all parameters to default values they are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode Write load ASCII code in hexadecimal form in the data bytes and then iss...

Страница 49: ... For a complete list of the emergency messages refer to section 8 3 Emergency messages on page 67 Default 80h Node ID 1015 00 Inhibit Time Emergency Unsigned16 rw Inhibit time of emergency messages EMCY i e minimum interval between subsequent emergency messages expressed in multiples of 100 µs Default 0 1018 Identity Object 01 Vendor Id Unsigned32 ro 02 Product code Unsigned32 ro 03 Revision numbe...

Страница 50: ...de ID no RTR COB ID WARNING It is mandatory to set the bit 30 of COB ID to 1 value 0 is not allowed This means that No RTR is allowed on the PDO At power on this object always contains the default value 02 Transmission Type Unsigned8 rw Transmission type PDO transmission 00h 0 Acyclic synchronous not implemented 01h F0h 1 240 Cyclic synchronous implemented F1h FBh 241 251 not implemented reserved ...

Страница 51: ...ive PDO Communication Parameter 1 sub 1 COB ID 1600 Receive PDO Mapping Parameter 1 This object indicates the kind of parameter contained in the Receive PDO message 01 3100 00 Control word Unsigned32 ro Default 3100 0020h 02 3106 00 Target position Unsigned32 ro Default 3106 0020h 1800 Transmit PDO Communication Parameter 1 These objects contain the communication parameters of Transmit PDO 01 COB ...

Страница 52: ...10 00 Cyclic Time WARNING Following an attempt to set the Transmission Type to 0 the PDO message is not sent following an attempt to change the Transmission Type to any other value that is not supported by the device an abort message abort code 0609 0030h Value range of parameter exceeded is generated If the value next to the object 3110 00 Cyclic Time 0 the PDO message is sent cyclically and the ...

Страница 53: ...ssion Type To have a PDO1 transmission every n SYNC commands set n value in the object 1800h sub 2 01h synchronous transmission at every SYNC command 02h synchronous transmission every two SYNC commands FEh cyclic transmission or status position velocity exchange transmission if 3110 00 Cyclic Time 0 cyclic transmission cycle time is set in object 3110h if 3110 00 Cyclic Time 0 status position vel...

Страница 54: ...ave set values using 1010 01 Save Parameters function Should the power be turned off or Reset node or Reset communication commands be sent all data not saved will be lost MAN RD4 CB E 1 5 Programming parameters 54 of 72 ...

Страница 55: ...transmission rate Baud rate Figure 4 on page 23 Data byte Baud rate 00h 20 Kbit s 01h 50 Kbit s 02h 100 Kbit s 03h 125 Kbit s 04h 250 Kbit s 05h default 500 Kbit s 06h 800 Kbit s 07h 1000 Kbit s 3001 00 Node ID Unsigned8 ro This object is meant to show the node identifier address of the device set by means of the dedicated switch for any information on setting the node ID see section 4 4 1 Setting...

Страница 56: ...t in this object the alarm Following error is triggered and the unit stops Parameter is expressed in pulses Default 1024 310D 00 Position window Unsigned16 rw This object defines the tolerance window for the 3106 00 Target position value When the axis is within the tolerance window limits for the time set in the object 310E 00 Position window time then the state is signalled through the Axis in po...

Страница 57: ...sub 2 Negative delta Default 523263 WARNING Every time 3120 00 Distance per revolution and 3300 00 Preset parameters are changed 310F Delta space values has to be checked carefully Each time you change the value in 3120 00 Distance per revolution you must then update the value in 3300 00 Preset in order to define the zero of the shaft as the system reference has now changed After having changed th...

Страница 58: ...maximum speed of the device in automatic work mode movements are controlled using Start command and are performed in order to reach the position set in Target position Parameter is expressed in pulses per second Default 1600 for RD4 T32 model Default 1066 for RD4 T48 model WARNING Each time you change the value in 3120 00 Distance per revolution you must then set new values also in 3114 00 Jog spe...

Страница 59: ...e object 3341 00 Starting Torque current Parameter is expressed in milliseconds Maximum value allowed is 5 seconds Default 2000 3120 00 Distance per revolution Unsigned32 rw This object sets the number of pulses per each complete revolution of the shaft This parameter is useful to relate the revolution of the shaft and a linear measurement For example unit is joined to a warm screw having a 5 mm p...

Страница 60: ...to assign a certain value to a desired physical position of the axis The chosen physical position will get the value set next to this item and all the previous and following positions will get a value according to it The preset value will be set for the position of the axis in the moment when the value is entered Default 0 WARNING A new value has to be set in 3300 00 Preset every time 3120 00 Dist...

Страница 61: ...m 3330 00 Kp current loop Unsigned32 rw This object contains the proportional gain used by the PI controller for the current loop Value has been optimized by Lika Electronic according to the technical characteristics of the device Default 200 3331 00 Ki current loop Unsigned32 rw This object contains the integral gain used by the PI controller for the current loop Value has been optimized by Lika ...

Страница 62: ...0F Delta space sub 1 Positive delta When the maximum forward limit is reached a signalling is activated through the SW limit switch status bit SW limit switch 3300 00 Preset 310F Delta space sub 1 Positive delta Value is expressed in encoder pulses 3344 00 Negative absolute limit switch Integer32 ro This is the SW limit switch value maximum negative limit calculated according to values set in para...

Страница 63: ...ived by the Slave see further details in the section 7 6 PDO messages on page 37 3101 00 Status word Unsigned16 ro This object shows information about the device state 3101 00 Status word object is contained in the PDO messages sent by the Slave see further details in the section 7 6 PDO messages on page 37 3102 00 Demanded position value Integer32 ro This object shows the value of the theoretical...

Страница 64: ...2 ro This object contains the difference between the target position and the current position step by step If this value is greater than the one set in the object 310C 00 Max following error then the alarm Following error is triggered and the unit stops 3110 00 Cyclic Time Unsigned16 rw 3110 00 Cyclic Time is used in asynchronous work mode and sets the interval between two PDO transmissions If the...

Страница 65: ...per values to restore normal work condition bit 1 0002h Flash memory error Internal error it cannot be restored bit 2 Not used bit 3 0004h Following error The difference between the real position and the theoretical position is greater than the value set in parameter 310C 00 Max following error we suggest reducing the work speed bit 4 0008h Axis not synchronized Internal error it cannot be restore...

Страница 66: ...rmal work status of the device to be restored This command is used to reset an alarm condition of the Slave but only if the faulty condition has ceased Using SDO messages you can read further information about the alarm in the index 1003 Pre defined Error Field Please note that should the alarm be caused by wrong object values see Machine data not valid normal work status can be restored only afte...

Страница 67: ...sued by the device when an internal error occurs Structure of EMCY object IDENTIFIER CAN Data Byte COB ID hex 0 1 2 3 7 See object 1014h Error code Errors sub register Specific codes LSB MSB 01 00 00 Emergency codes available 0000h No active errors 1000h Generic error 2220h Power surge 3110h Overvoltage 3120h Undervoltage 4310h Overtemperature 5530h Flash memory 8130h Life Guard 8611h Following er...

Страница 68: ...00 Life Time Factor Node guarding is enabled only if Node life time 0 If the Slave device does not receive a RTR message before the Node life time has expired it warns activating a Life Guarding Event Furthermore the red LED on the back of the device starts flashing so indicating the Node guarding error see on page 20 objects 1001 00 Error register and 1003 Pre defined Error Field are updated and ...

Страница 69: ...ID Cmd Nodo Operational 000 01 ID Pre operational 000 80 ID Setting object 3300 00 Preset preset 1000 3E8h Master Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 00 33 00 E8 03 00 00 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 00 33 00 00 00 00 00 NOTE Save default values using 1010 01 Save Parameters function Should the power be turned off or Reset ...

Страница 70: ... 3109 00 Deceleration PPS2 1000 310F Delta space Positive delta P 523263 310F Delta space Negative delta P 523263 3114 00 Jog speed PPS 1066 RD4 T48 1600 RD4 T32 3115 00 Work speed PPS 1066 RD4 T48 1600 RD4 T32 3118 00 Start Torque current time ms 2000 3302 00 Code sequence 0 3330 00 Kp current loop 200 3331 00 Ki current loop 60 3340 00 Max current mA 5000 3341 00 Starting Torque current mA 7000 ...

Страница 71: ...This page intentionally left blank ...

Страница 72: ...lowing error Changed position of bits Executing a command and Target position reached Updated EDS file V2 2 4 1 3 Updated section Electrical connections 2 4 1 4 Updated information about objects 1400 Receive PDO Communication Parameter 1 1800 Transmit PDO Communication Parameter 1 3110 00 Cyclic Time 2 4 1 5 Warning against back EMF Dispose separately LIKA Electronic Via S Lorenzo 25 36010 Carré V...

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